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Good overview of servo properties can be found here and here.

The Servo Database is also a good source of information.

OpenServo, a project to replace PWM by I2C seems to have ceased activity but is noteworthy. It can be found at openservo.com and here on github. Unlike PWM this also allows querying the servo's speed and position, which is definitely a very interesting feature.

250Hz

  • BMS 760DMG - suggestive name, but - no - it is not 760µs. 30€ but out of stock. Weight: 34g / 1.19oz Dimensions: 42 x 21.5 x 22 mm / 1.65 x 0.85 x 0.87 inch Torque At 4.8V: 5.6kg/cm , 79 oz/in Torque At 6.0V: 7.2kg/cm , 112 oz/in Speed At 4.8V: 0.18 sec / 60° at no load Speed At 6.0V: 0.16 sec / 60° at no load

560Hz 760µs

Sorted by price.

  • MKS HBL980 sells for ~144€ from the UK. Specs

  • MKS BLS980 sells for 139€ in EU. Dead Band 0.0004ms (Default) Control System +Pulse Width Control Working Frequence 760μs / 560hz (RX) Required Pulse 3.5 ~ 6.0 Volt Peak to Peak Square Wave Operating Voltage 4.0 ~ 6.0 V DC Volts Operating Temperature Range -10 to + 60 Degree C Operating Speed (4.8V) 0.040 sec/60° degrees at no load Operating Speed (6V) 0.033 sec/60° degrees at no load Stall Torque (4.8V) 2.5 kg.cm (34.7 oz/in) Stall Torque (6V) 3.1 kg.cm (43.0 oz/in) 360° Modifiable NO Motor Type Brushless Motor Potentiometer Drive Indirect Drive Driver Type FET Bearing Type Dual Ball Bearings Gear Type Titanium Gears Programmable NO Connector Wire Length 24.0 cm (9.4 in) Dimensions 40 x 20 x 40 mm ( 1.57x0.79x1.50 in) Weight 58.0 g (1.97 oz)

  • MKS BLS990 sells at ~125€ from the UK. Dimensions 40 x 20 x 40 mm ( 1.57x0.79x1.57 in) Operating Voltage 4.8 ~ 6.0 V DC Volts Working frequence 760s / 560hz Dead band 0.0004ms (Default) Bearing Type 2BB Motor Type Brushless Motor Gear Type Chrome-Titanium alloy gear Torque: 2.8 kg-cm (38.9 oz/in)(4.8V) 3.5 kg-cm (48.6 oz/in) (6.0V) Speed: 0.038 s (4.8V) 0.030 s (6.0V) Weight: 69 g (2.43 oz)

  • MKS DS760 sells for 111€. Dead Band 0.001ms (Default) Totzone: 0.0008 ms (Grundeinstellung) Control System +Pulse Width Control Working Frequence 760μs/560Hz (RX) Required Pulse 3.0~5.0 Volt Peak to Peak Square Wave Operating Voltage 4.8~6.0 V DC Volts Operating Temperature Range -10 to + 60 Degree C Operating Speed (4.8V) 0.034 sec/60° degrees at no load Operating Speed (6V) 0.027 sec/60° dagrees at no load Stall Torque (4.8V) 3.9 kg-cm (54.17 oz/in) Stall Torque (6V) 4.9 kg-cm (67.78 oz/in) Stellmoment (4.8V): 3.9kg.cm (90,3 oz/in) Stellmoment (6.0V): 4.9 kg.cm (112,8 oz/in) 360° Modifiable NO Motor Type Coreless Motor Potentiometer Drive Direct Drive Potentiometer Antrieb: Indirekter Antrieb Driver Type FET Bearing Type Dual Ball Bearings Gear Type Titanium Gears Programmable NO Connector Wire Length 15.0 cm (5.9 in) Dimensions 40X20X40 mm Weight 62.26g Lagerungstyp: 2-fach Kugelgelagert

  • KST BLS505X sells for 93€. Specs Spannungsbereich: 6- 8,4V Abmessungen: 35,5x15x32,7 Drehmoment: 5,5kg bei 8,4V 4,8kg bei 7,4V 3,8kg bei 6,0V Geschwindigkeit: 0,035 Sek / 60° bei 8,4 V 0,040 Sek /60° bei 7,4 V 0,050 Sek /60° bei 6,0 V Gewicht. 40 g Kugellager: 2 Motor: Brushless

  • MKS DS95i sells for 84€. Totzone: 0.001 ms (Grundeinstellung) Steuer System: Positives Breitensignal Arbeitsfrequenz: 760µs / 560hz Benötigter Empfangsimpuls: 3 - 5 V Hoch zu Hoch Rechtecksignal Arbeitsspannung: 4,8 - 6 V Gleichspannung Arbeitstemperatur: -10 to + 60°C - Grad Celsius Stellgeschwindigkeit (4.8V): 0.047 sec/60° ohne Last Stellgeschwindigkeit (6.0V): 0.038 sec./60° ohne Last Stellmoment (4.8V): 1.92 kg/cm Stellmoment (6.0V): 2.4 kg/cm 360° Modifikation: JA (heisst: das Servo hat keinen mechanischen Anschlag) Motortyp: Coreless Motor 12 mm Potentiometer Antrieb: direkter Antrieb Lagerungstyp: 2-fach Kugelgelagert Getriebetyp: Chrom Titan Metall Zahnräder Programmierbarkeit: Nein [TAB:Dimensionen]Abmessungen: 23 x 12 x 27.25 mm Gewicht: 21.21 g Kabellänge: 20 cm

  • KST BLS905X sells for 84€. Betriebsspannung: DC 6.0V-8.4V Abmessungen: 40,502037mm Drehmoment: 8 Kg.cm bei 8.4V 7 Kg.cm bei 7.4V 6 Kg.cm bei 6.0V Stellgeschwindigkeit: 0.035 sec / 60° bei 8.4V 0.040 sec / 60° bei 7.4V 0.045 sec/ 60° bei 6.0V
    Gewicht: 72g Impulszeit: 760us/560Hz Kugellager: 2 Stück

  • MKS DS8910A+ sells for 75€. Totzone: 0.0008 ms (Grundeinstellung) Steuer System: Positives Breitensignal Arbeitsfrequenz: 760µs / 560hz Benötigter Empfangsimpuls: 3.0 V Hoch zu Hoch Rechtecksignal Arbeitsspannung: 4.8 - 5.5 V Gleichspannung Arbeitstemperatur: -10 to + 60°C - Grad Celsius Stellgeschwindigkeit (4.8V): 0.052 sec/60° ohne Last Stellgeschwindigkeit (6V): 0.04 sec./60° ohne Last Stellmoment (4.8V): 2.1 kg.cm (27,9 oz/in) Stellmoment (6V): 2.6 kg.cm (31,9 oz/in) 360° Modifikation: NEIN Motortyp: Coreless Motor (eisenlos) Potentiometer Antrieb: Indirekter Antrieb Lagerungstyp: 2-fach Kugelgelagert Getriebetyp: 2 Zahnräder Metall, 3 Zahnräder Aluminiumlegierung Programmierbarkeit: NEIN Dimensionen Abmessungen: 35.8 x 15.2 x 29 mm (1.41x 0.6x 1.14 in) Gewicht: 28.0 g (0.99 oz) Kabellänge: 15.0 cm (5.9 in)

  • TGY-BLS805MG sells for 55€. Specs: Operating Voltage: 6~8.4v Torque: 5.5kg @ 6v~7.5kg @ 8.4v Speed: 0.048sec @ 6v~0.039sec @ 8.4v Dimensions: 40.5 x 20 x 37mm Weight: 68g Motor: Brushless Working Frequency: 760us/560Hz Servo Plug: JR type Servo Lead Length: 320mm

  • TGY-DS525MG sells for 39€. Specs: Operating Voltage: 6~8.4v Torque: 5.5kg @ 6v~7.5kg @ 8.4v Speed: 0.05sec @ 6v~0.04sec @ 8.4v Dimensions: 40.5 x 20 x 37mm Weight: 68g Working Frequency: 760us Motor: 17mm dia coreless Servo Plug: JR type Servo Lead Length: 320mm

Servo Producers

Non-PWM Serial Servos

HerkuleX

HerkuleX DRS-0101 sells at 38€.

Seems to require the interface manager kit for 40€ to connect to a PC. The servos can be daisy chained so just one interface kit seems to be necessary for multiple servos. The Manual for the managerkit is here.

A pdf manual for the DRS-0101 can be found here. It explains the registers and the communication protocoll as well as the mechanical parts needed to build turrets or robot arms and legs with multiple servos. It seems that all software is for Windows only.

Other HerkuleX servos and accessories such as mechanical connectors.

Dynamixel

Wikipedia page for Dynamixel.

Dynamixel AX-18A serial.

Dynamixel AX-12A serial sells at $45 in US Roboshop. Pack of six with free shipping at $225.

Other Dynamixel servos and accessories.

Details about the open source python libraries, the ROS integration and other facts about the Dynamixel servos can be found at hizook.com. According to this page the Dynamixel have 10bit resolution for the position reported but only 8bit for the actual physical position they can go to.

Dynamixel communicates over TTL RS232 and a $50 USB2Dynamixel adapter is recommended.

Updated